Present position locating method

ABSTRACT

An evaluation point E of a present position candidate corresponding to each satellite set is calculated based on an a priori residual (APR) (APR value), a PDOP value, and the number of satellites of the target satellite set according to E=k 1 ·f 1 (APR)+k 2 ·f 2 (PDOP)+k 3 ·f 3 (number of satellites). Evaluation coefficients k 1  to k 3  for respectively weighting evaluation functions f 1  to f 3  are determined based on an APR average value.

CROSS-REFERENCE TO THE RELATED APPLICATIONS

This is a continuation application of U.S. patent application Ser. No.12/062,183, which claims priority to Japanese Patent Application No.2007-101478 filed on Apr. 9, 2007 and Japanese Patent Application No.2008-37116 filed on Feb. 19, 2008. The entire disclosure of U.S. patentapplication Ser. No. 12/0692,183 and Japanese Patent Application Nos.2007-101478 and 2008-37116 is hereby incorporated by reference in theirentirety.

BACKGROUND OF THE INVENTION

The present invention relates to a present position locating method.

The global positioning system (GPS) is widely known as a satellitepositioning system, and is utilized for a car navigation system and thelike. In the GPS, GPS satellite signals are respectively transmittedfrom a plurality of GPS satellites which orbit the earth, and a GPSreceiver calculates (locates) its present position based on the receivedGPS satellite signals.

A GPS satellite signal affected by a multipath or the like may beincluded in the acquired GPS satellite signals. The term “multipath”refers to a phenomenon in which an indirect wave reflected or diffractedby a building or topography is superimposed on a direct wave from a GPSsatellite so that the GPS receiver receives identical radio wavesthrough multiple paths. Such a reception environment is referred to as amultipath environment. The present position of the GPS receiver may notbe accurately calculated (located) when using a GPS satellite signalaffected by a multipath. Specifically, it is necessary to performpositioning calculations while excluding a GPS satellite signal affectedby a multipath or the like from the acquired GPS satellite signals. As amethod of determining a GPS satellite signal affected by a multipath orthe like, a method using an a priori residual (APR) has been known (seeJP-A-2003-240836, for example).

The GPS receiver generally calculates its position as follows.Specifically, the GPS receiver selects satellite sets (i.e.,combinations of four or more GPS satellites) based on the acquired GPSsatellite signals, and performs positioning calculations correspondingto each satellite set to calculate a present position candidate. The GPSreceiver selects the present position candidate considered to have thehighest accuracy from the present position candidates calculatedcorresponding to the respective satellite sets based on an index such asa position dilution of precision (PDOP), and determines the selectedpresent position to be the present positioning result. The PDOP isdisclosed in JP-A-2006-058200, for example.

However, a plurality of GPS satellite signals may be affected by amultipath in a reception environment (e.g., multipath environment) withpoor positioning accuracy. In this case, a GPS satellite with pooraccuracy may be included in each satellite set. It is insufficient tomerely determine a GPS satellite signal with poor accuracy.Specifically, it is necessary to appropriately determine and select asatellite set which is considered to have higher positioning accuracy.

SUMMARY

According to one aspect of the invention, there is provided a presentposition locating method comprising:

selecting satellite sets, each of the satellite sets being a combinationof satellites used for positioning calculations;

calculating present position candidates corresponding to the respectivesatellite sets using satellite signals from the satellites included inthe respective satellite sets;

calculating APR values of the satellites of the respective satellitesets;

calculating an average value of the APR values of the respectivesatellite sets;

changing weighting of an evaluation result of an evaluation method usedto calculate an evaluation point of the present position candidatecorresponding to the average value of the APR values;

calculating the evaluation points of the present position candidatescorresponding to the respective satellite sets using the evaluationmethod; and

selecting a present position candidate from the present positioncandidates corresponding to the respective satellite sets based on theevaluation points, and determining the selected present positioncandidate to be a present located position.

According to another aspect of the invention, there is provided apresent position locating method comprising:

selecting satellite sets, each of the satellite sets being a combinationof satellites used for positioning calculations;

calculating present position candidates corresponding to the respectivesatellite sets using satellite signals from the satellites included inthe respective satellite sets;

calculating APR values of the satellites of the respective satellitesets;

calculating an average value of the APR values of the respectivesatellite sets;

changing an evaluation method used to calculate an evaluation point ofthe present position candidate corresponding to the average value of theAPR values;

calculating the evaluation points of the present position candidatescorresponding to the respective satellite sets using the evaluationmethod; and

selecting a present position candidate from the present positioncandidates corresponding to the respective satellite sets based on theevaluation points, and determining the selected present positioncandidate to be a present located position.

BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWING

FIG. 1 is an internal configuration diagram of a portable telephone.

FIG. 2 is a graph showing an example of an evaluation function f1.

FIG. 3 is a graph showing an example of an evaluation function f2.

FIG. 4 is a graph showing an example of an evaluation function f3.

FIG. 5 is a graph showing an example of an evaluation coefficient k1.

FIG. 6 is a graph showing an example of an evaluation coefficient k2.

FIG. 7 is a graph showing an example of an evaluation coefficient k3.

FIGS. 8A and 8B show examples of experimental results.

FIG. 9 is a configuration diagram of a ROM.

FIG. 10 is a configuration diagram of a RAM.

FIG. 11 shows a data configuration example of satellite position data.

FIG. 12 shows a data configuration example of satellite set data.

FIG. 13 shows a data configuration example of evaluation pointcalculation data.

FIG. 14 is a flowchart of a baseband process.

FIGS. 15A to 15C show modifications of the evaluation functions f1 tof3.

DETAILED DESCRIPTION OF THE EMBODIMENT

Several embodiments of the invention may enable a satellite set withhigh positioning accuracy to be appropriately determined and selectedfrom a plurality of satellite sets.

According to one embodiment of the invention, there is provided apresent position locating method used when receiving satellite signalstransmitted from positioning satellites and repeating present positionpositioning calculations based on the received satellite signals, themethod comprising:

selecting satellite sets based on the received satellite signals, eachof the satellite sets being a combination of satellites used for presentpositioning calculations;

calculating present position candidates corresponding to the respectivesatellite sets using the satellite signals from the satellites includedin the respective satellite sets;

calculating APR values of the respective satellite sets, the APR valuebeing the sum of the square of a difference between 1) a pseudo-rangeand 2) an approximate distance of a target satellite of a targetsatellite set, the approximate distance being a distance between thetarget satellite and the present position candidate of the targetsatellite set;

calculating an average value of the APR values of the respectivesatellite sets;

changing weighting of an evaluation function of an evaluation pointcalculation equation used to calculate an evaluation point of thepresent position candidate corresponding to the average value of the APRvalues, the evaluation point calculation equation being a compositefunction of at least one evaluation function selected from 1) anevaluation function with respect to the APR value, 2) an evaluationfunction with respect to a number of satellites included in the targetsatellite set, and 3) an evaluation function with respect to a DOP valueof the constellation of the satellites included in the target satelliteset;

calculating the evaluation points of the present position candidatescorresponding to the respective satellite sets using the evaluationpoint calculation equation; and

selecting a present position candidate from the present positioncandidates corresponding to the respective satellite sets based on theevaluation points, and determining the selected present positioncandidate to be a present located position.

According to another embodiment of the invention, there is provided apositioning device that receives satellite signals transmitted frompositioning satellites and repeats present position positioningcalculations based on the received satellite signals, the positioningdevice comprising:

a satellite set selection section that selects satellite sets based onthe received satellite signals, each of the satellite sets being acombination of satellites used for present positioning calculations;

an individual satellite set present position calculation section thatcalculates present position candidates corresponding to the respectivesatellite sets using the satellite signals from the satellites includedin the respective satellite sets;

an APR value calculation section that calculates APR values of therespective satellite sets, the APR value being the sum of the square ofa difference between 1) a pseudo-range and 2) an approximate distance ofa target satellite of a target satellite set, the approximate distancebeing a distance between the target satellite and the present positioncandidate of the target satellite set;

an average value calculation section that calculates an average value ofthe APR values of the respective satellite sets;

a weighting change section that changes weighting of an evaluationfunction of an evaluation point calculation equation used to calculatean evaluation point of the present position candidate corresponding tothe average value of the APR values, the evaluation point calculationequation being a composite function of at least one of 1) an evaluationfunction with respect to the APR value, 2) an evaluation function withrespect to a number of satellites included in the target satellite set,and 3) an evaluation function with respect to a DOP value of theconstellation of the satellites included in the target satellite set;

an evaluation point calculation section that calculates the evaluationpoints of the present position candidates corresponding to therespective satellite sets using the evaluation point calculationequation; and

a present position determination section that selects a present positioncandidate from the present position candidates corresponding to therespective satellite sets based on the evaluation points, and determinesthe selected present position candidate to be a present locatedposition.

According to the above configuration, the present position candidate iscalculated corresponding to each satellite set selected based on thereceived satellite signals. The evaluation point of the present positioncandidate is calculated using the evaluation point calculation equation,and the present position candidate selected from the present positioncandidates of the respective satellite sets based on the calculatedevaluation points is determined to be the present located position. Theevaluation point of each satellite set is calculated using theevaluation point calculation equation that is a composite function of atleast one evaluation function selected from 1) the evaluation functionwith respect to the APR value, 2) the evaluation function with respectto the number of satellites, and 3) the evaluation function with respectto the DOP value. The weighting of each evaluation function of theevaluation point calculation equation is changed corresponding to theaverage value of the APR values.

The APR value of the satellite set is calculated according to anequation (2) described later based on a pseudo-range ym and anapproximate distance yp of each satellite included in the satellite set.The approximate distance yp of each satellite is calculated according toan equation (3) described later based on the position (Xi, Yi, Zi) ofthat satellite and the present position (x, y, z) calculated based onthe satellite signal from each satellite included in the targetsatellite set.

The APR value and a positioning error generally have a relationship inwhich the positioning accuracy of the target satellite set decreases asthe APR value increases. A satellite signal affected by a multipath orthe like is more likely included in the received satellite signals(i.e., multipath environment) as the average value of the APR valuesincreases. Specifically, the evaluation point of each satellite set canbe calculated taking the reception environment into consideration (e.g.,whether or not the reception environment is a multipath environment) bychanging the weighting of each evaluation function corresponding to theaverage value of the APR values instead of merely using each evaluationfunction for the target satellite set. Therefore, a present positioncandidate determined to be the located position can be appropriatelyselected from the present position candidates corresponding to theselected satellite sets.

According to another embodiment of the invention, there is provided apresent position locating method comprising:

selecting satellite sets, each of the satellite sets being a combinationof satellites used for positioning calculations;

calculating present position candidates corresponding to the respectivesatellite sets using satellite signals from the satellites included inthe respective satellite sets;

calculating APR values of the satellites of the respective satellitesets;

calculating an average value of the APR values of the respectivesatellite sets;

changing weighting of an evaluation result of an evaluation method usedto calculate an evaluation point of the present position candidatecorresponding to the average value of the APR values;

calculating the evaluation points of the present position candidatescorresponding to the respective satellite sets using the evaluationmethod; and

selecting a present position candidate from the present positioncandidates corresponding to the respective satellite sets based on theevaluation points, and determining the selected present positioncandidate to be a present located position.

According to another embodiment of the invention, there is provided apositioning device comprising:

a satellite set selection section that selects satellite sets, each ofthe satellite sets being a combination of satellites used forpositioning calculations;

an individual satellite set present position calculation section thatcalculates present position candidates corresponding to the respectivesatellite sets using satellite signals from the satellites included inthe respective satellite sets;

an APR value calculation section that calculates APR values of therespective satellite sets;

an average value calculation section that calculates an average value ofthe APR values of the respective satellite sets;

a weighting change section that changes weighting of an evaluationresult of an evaluation method used to calculate an evaluation point ofthe present position candidate corresponding to the average value of theAPR values;

an evaluation point calculation section that calculates the evaluationpoints of the present position candidates corresponding to therespective satellite sets using the evaluation method; and

a present position determination section that selects a present positioncandidate from the present position candidates corresponding to therespective satellite sets based on the evaluation points, and determinesthe selected present position candidate to be a present locatedposition.

In the present position locating method according to this embodiment,

the changing of the weighting may include decreasing the weighting asthe average value of the APR values increases.

In the positioning device according to this embodiment,

the weighting change section may decrease the weighting as the averagevalue of the APR values increases.

According to the above configuration, the weighting of each evaluationfunction of the evaluation point calculation equation is decreased asthe average value of the APR values increases. A satellite signalaffected by a multipath or the like is more likely included in thereceived satellite signals (i.e., multipath environment) as the averagevalue of the APR values increases, as described above. Therefore, theevaluation point of each satellite set can be reduced in the multipathenvironment as compared with an open-sky environment by decreasing theweighting of each evaluation function of the evaluation pointcalculation equation as the average value of the APR values increases.Moreover, the evaluation point of the satellite set determined to havepoorer positioning accuracy can be reduced by decreasing the weightingof each evaluation function of the evaluation point calculation equationto a different degree so that the present position candidatecorresponding to that satellite set is not selected as the locatedposition.

According to another embodiment of the invention, there is provided apresent position locating method used when receiving satellite signalstransmitted from positioning satellites and repeating present positionpositioning calculations based on the received satellite signals, themethod comprising:

selecting satellite sets based on the received satellite signals, eachof the satellite sets being a combination of satellites used for presentpositioning calculations;

calculating present position candidates corresponding to the respectivesatellite sets using the satellite signals from the satellites includedin the respective satellite sets;

calculating APR values of the respective satellite sets, the APR valuebeing the sum of the square of a difference between 1) a pseudo-rangeand 2) an approximate distance of a target satellite of a targetsatellite set, the approximate distance being a distance between thetarget satellite and the present position candidate of the targetsatellite set;

calculating an average value of the APR values of the respectivesatellite sets;

changing weighting of an evaluation point calculation equation used tocalculate an evaluation point of the present position candidatecorresponding to the average value of the APR values;

calculating the evaluation points of the present position candidatescorresponding to the respective satellite sets using the evaluationpoint calculation equation; and

selecting a present position candidate from the present positioncandidates corresponding to the respective satellite sets based on theevaluation points, and determining the selected present positioncandidate to be a present located position.

According to another embodiment of the invention, there is providedpositioning device that receives satellite signals transmitted frompositioning satellites and repeats present position positioningcalculations based on the received satellite signals, the positioningdevice comprising:

a satellite set selection section that selects satellite sets based onthe received satellite signals, each of the satellite sets being acombination of satellites used for present positioning calculations;

an individual satellite set present position calculation section thatcalculates present position candidates corresponding to the respectivesatellite sets using the satellite signals from the satellites includedin the respective satellite sets;

an APR value calculation section that calculates APR values of therespective satellite sets, the APR value being the sum of the square ofa difference between 1) a pseudo-range and 2) an approximate distance ofa target satellite of a target satellite set, the approximate distancebeing a distance between the target satellite and the present positioncandidate of the target satellite set;

an average value calculation section that calculates an average value ofthe APR values of the respective satellite sets;

an evaluation point calculation equation change section that changesweighting of an evaluation point calculation equation used to calculatean evaluation point of the present position candidate corresponding tothe average value of the APR values;

an evaluation point calculation section that calculates the evaluationpoints of the present position candidates corresponding to therespective satellite sets using the evaluation point calculationequation; and

a present position determination section that selects a present positioncandidate from the present position candidates corresponding to therespective satellite sets based on the evaluation points, and determinesthe selected present position candidate to be a present locatedposition.

According to the above configuration, the present position candidate iscalculated corresponding to each satellite set selected based on thereceived satellite signals. The evaluation point of the present positioncandidate is calculated using the evaluation point calculation equation,and the present position candidate selected from the present positioncandidates of the respective satellite sets based on the calculatedevaluation point is determined to be the present located position. Inthis case, the evaluation point calculation equation is changedcorresponding to the average value of the APR values. A satellite signalaffected by a multipath or the like is more likely included in thereceived satellite signals (i.e., multipath environment) as the averagevalue of the APR values increases, as described above. Therefore, theevaluation point of each satellite set can be calculated taking thereception environment into consideration (e.g., whether or not thereception environment is a multipath environment) by utilizing theevaluation point calculation equation corresponding to the average valueof the APR values. As a result, a present position candidate determinedto be the located position can be appropriately selected from thepresent position candidates corresponding to the selected satellitesets.

According to another embodiment of the invention, there is provided apresent position locating method comprising:

selecting satellite sets, each of the satellite sets being a combinationof satellites used for positioning calculations;

calculating present position candidates corresponding to the respectivesatellite sets using satellite signals from the satellites included inthe respective satellite sets;

calculating APR values of the satellites of the respective satellitesets;

calculating an average value of the APR values of the respectivesatellite sets;

changing an evaluation method used to calculate an evaluation point ofthe present position candidate corresponding to the average value of theAPR values;

calculating the evaluation points of the present position candidatescorresponding to the respective satellite sets using the evaluationmethod; and

selecting a present position candidate from the present positioncandidates corresponding to the respective satellite sets based on theevaluation points, and determining the selected present positioncandidate to be a present located position.

According to another embodiment of the invention, there is provided apositioning device comprising:

a satellite set selection section that selects satellite sets, each ofthe satellite sets being a combination of satellites used forpositioning calculations;

an individual satellite set present position calculation section thatcalculates present position candidates corresponding to the respectivesatellite sets using satellite signals from the satellites included inthe respective satellite sets;

an APR value calculation section that calculates APR values of therespective satellite sets;

an average value calculation section that calculates an average value ofthe APR values of the respective satellite sets;

an evaluation point calculation equation change section that changes anevaluation method used to calculate an evaluation point of the presentposition candidate corresponding to the average value of the APR values;

an evaluation point calculation section that calculates the evaluationpoints of the present position candidates corresponding to therespective satellite sets using the evaluation method; and

a present position determination section that selects a present positioncandidate from the present position candidates corresponding to therespective satellite sets based on the evaluation points, and determinesthe selected present position candidate to be a present locatedposition.

In the present position locating method according to this embodiment,

the evaluation point calculation equation may be a composite function ofat least one evaluation function selected from 1) an evaluation functionwith respect to the APR value, 2) an evaluation function with respect toa number of satellites included in the target satellite set, and 3) anevaluation function with respect to a DOP value of the constellation ofthe satellites included in the target satellite set, a plurality ofevaluation functions corresponding to the average value of the APRvalues may be provided in advance for each of the evaluationfunctions 1) to 3); and

the changing of the evaluation point calculation equation may includechanging each evaluation function of the evaluation point calculationequation corresponding to the average value of the APR values.

In the positioning device according to this embodiment,

the evaluation point calculation equation may be a composite function ofat least one evaluation function selected from 1) an evaluation functionwith respect to the APR value, 2) an evaluation function with respect toa number of satellites included in the target satellite set, and 3) anevaluation function with respect to a DOP value of the constellation ofthe satellites included in the target satellite set, a plurality ofevaluation functions corresponding to the average value of the APRvalues may be provided in advance for each of the evaluationfunctions 1) to 3); and

the evaluation point calculation equation change section may change eachevaluation function of the evaluation point calculation equationcorresponding to the average value of the APR values.

According to the above configuration, the evaluation point calculationequation is a composite function of at least one evaluation functionselected from 1) the evaluation function with respect to the APR value,2) the evaluation function with respect to the number of satellites, and3) the evaluation function with respect to the DOP value, and eachevaluation function is changed corresponding to the average value of theAPR values. This makes it possible to change the evaluation targetcorresponding to the reception environment (e.g., whether or not thereception environment is a multipath environment) and increase theevaluation point of the satellite set determined to have higherpositioning accuracy so that the present position candidatecorresponding to that satellite set is easily selected as the locatedposition.

In the present position locating method according to this embodiment,

a plurality of the evaluation point calculation equations may beprovided in advance corresponding to the average value of the APRvalues; and

the changing of the evaluation point calculation equation may includechanging the evaluation point calculation equation corresponding to theaverage value of the APR values.

In the positioning device according to this embodiment,

a plurality of the evaluation point calculation equations may beprovided in advance corresponding to the average value of the APRvalues; and

the evaluation point calculation equation change section may change theevaluation point calculation equation corresponding to the average valueof the APR values.

According to the above configuration, a plurality of evaluation pointcalculation equations are provided in advance corresponding to theaverage value of the APR values, and the evaluation point is calculatedusing the evaluation point calculation equation corresponding to theaverage value of the APR values. Therefore, the evaluation point of eachsatellite set can be calculated corresponding to the receptionenvironment (e.g., whether or not the reception environment is amultipath environment). As a result, a present position candidatedetermined to be the located position can be more appropriatelyselected.

Another embodiment of the invention relates to a computer-readablestorage medium storing a program that causes a computer to execute theabove present position locating method, the computer being included in apositioning device that receives satellite signals transmitted frompositioning satellites and locates a present position of the positioningdevice based on the received satellite signals.

The term “storage medium” used herein refers to a storage medium (e.g.,hard disk, CD-ROM, DVD, memory card, or IC memory) from whichinformation stored therein can be read by a computer.

A further embodiment of the invention relates to an electronicinstrument comprising the above positioning device.

Preferred embodiments of the invention are described in detail belowwith reference to the drawings.

The following embodiments illustrate specific preferred examples of theinvention, and are provided with various technologically preferredlimitations. Note that the scope of the invention is not limited to thefollowing embodiments unless there is a description which limits theinvention.

An embodiment in which the invention is applied to a portable telephoneis described below with reference to the drawings.

Configuration

FIG. 1 is a block diagram showing the internal configuration of aportable telephone 1 (i.e., electronic instrument) according to thisembodiment. As shown in FIG. 1, the portable telephone 1 includes a GPSantenna 10, a GPS receiver section 20 (positioning device), a hostcentral processing unit (CPU) 40, an operation section 41, a displaysection 42, a read-only memory (ROM) 43, a random access memory (RAM)44, a portable telephone antenna 50, and a portable telephone wirelesscommunication circuit section 60.

The GPS antenna 10 is an antenna which receives an RF signal including aGPS satellite signal transmitted from a GPS satellite, and outputs thereceived RF signal.

The GPS receiver section 20 acquires/extracts the GPS satellite signalfrom the RF signal received by the GPS antenna 10, and calculates thepresent position by performing positioning calculations based on anavigation message and the like extracted from the GPS satellite signal.The GPS receiver section 20 includes a radio frequency (RF) receivercircuit section 21, an oscillation circuit 22, and a baseband processcircuit section 30. The RF receiver circuit section 21 and the basebandprocess circuit section 30 may be produced as different large scaleintegrated (LSI) circuits, or may be produced in one chip.

The oscillation circuit 22 is a crystal oscillator or the like whichgenerates and outputs an oscillation signal having a given oscillationfrequency.

The RF receiver circuit section 21 multiplies the RF signal input fromthe GPS antenna 10 by a signal obtained by dividing or multiplying thefrequency of the oscillation signal input from the oscillation circuit22 to down-convert the RF signal into an intermediate-frequency signal(hereinafter referred to as “IF signal”). The RF receiver circuitsection 21 amplifies the IF signal, converts the amplified signal into adigital signal using an A/D converter, and outputs the digital signal,for example.

The baseband process circuit section 30 is a circuit section whichacquires/tracks the GPS satellite signal from the IF signal input fromthe RF receiver circuit section 21, and performs pseudo-rangecalculations, positioning calculations, and the like based on anavigation message, time information, and the like extracted by decodingdata.

Specifically, the baseband process circuit section 30 acquires the GPSsatellite signal based on the input IF signal. The baseband processcircuit section 30 acquires the GPS satellite signal by extracting theGPS satellite signal from the IF signal by performing a correlationprocess on the IF signal. Specifically, the baseband process circuitsection 30 performs a coherent process which calculates the correlationbetween the IF signal and a pseudo-generated C/A code replica (codereplica) using FFT calculations, and an incoherent process whichintegrates the correlation values (i.e., the results of the coherentprocess) to calculate an integrated correlation value. As a result, thephases of the C/A code and a carrier frequency contained in the GPSsatellite signal are obtained.

After acquiring the GPS satellite signal, the baseband process circuitsection 30 tracks the acquired GPS satellite signal. The basebandprocess circuit section 30 tracks the GPS satellite signals bysynchronously holding a plurality of acquired GPS satellite signals inparallel. For example, the baseband process circuit section 30 performsa code loop which is implemented by a delay locked loop (DLL) and tracksthe phase of the C/A code, and a carrier loop which is implemented by aphase locked loop (PLL) and tracks the phase of the carrier frequency.The baseband process circuit section 30 extracts the navigation messageby decoding data contained in each GPS satellite signal which has beentracked, and performs pseudo-range calculations, positioningcalculations, and the like to locate the present position.

The baseband process circuit section 30 includes a CPU 31, a ROM 32, anda RAM 33. The baseband process circuit section 30 also includes variouscircuits such as a C/A code replica generation circuit, a correlationcalculation circuit, and a data decoder circuit.

The CPU 31 controls each section of the baseband process circuit section30 and the RF receiver circuit section 21, and performs variouscalculations including a baseband process described later.

In the baseband process, the CPU 31 calculates the pseudo-range betweenthe portable telephone 1 and each acquired GPS satellite based on orbitinformation and time information relating to each GPS satellite includedin the navigation message decoded from the acquired/tracked GPSsatellite signal, and performs positioning calculations based on thecalculated pseudo-range to calculate the present position of theportable telephone 1.

Specifically, the CPU 31 selects satellite sets (e.g., combinations offour or more GPS satellites) based on the acquired GPS satellitesignals. For example, when eight GPS satellite signals have beenacquired, the CPU 31 selects 163 (=8C8+8C7+8C6+8C5+8C4) satellite sets.The CPU 31 then performs positioning calculations corresponding to eachselected satellite set using a least-square method or the like tocalculate present position candidates P of the portable telephone 1. TheCPU 31 then calculates an evaluation point E which indicates thepositioning accuracy corresponding to each satellite set using anevaluation point calculation equation (1). The higher the evaluationpoint E, the higher the positioning accuracy is. The CPU 31 selects asatellite set with the highest evaluation point E from the satellitesets, and determines the present position candidate P corresponding tothe selected satellite set to be the present located position of theportable telephone 1. Note that about several tens of satellite setsmade up of six or more GPS satellites may be extracted from thesatellite sets generated based on the acquired GPS satellite signals,and the located position of the portable telephone 1 may be determinedbased on the extracted satellite sets, for example.

E=k ₁×ƒ₁(APR)+k ₂×ƒ₂(PDOP)+k ₃×ƒ₃(number of satellites)  (1)

where, f1 is an evaluation function with respect to the a prioriresidual (APR) (APR value) of the target satellite set. FIG. 2 shows anexample of the evaluation function f1. FIG. 2 shows a graph in which thehorizontal axis indicates the APR value and the vertical axis indicatesthe evaluation function f1. As shown in FIG. 2, the larger the APRvalue, the smaller the evaluation function f1 is.

The a priori residual (APR) (APR value) of a satellite set is given bythe following equation (2):

$\begin{matrix}{{APR} = {\sum\limits_{i}^{N}\left( {{ym}_{i} - {yp}_{i}} \right)^{2}}} & (2)\end{matrix}$

where, N is the number of GPS satellites (number of satellites) includedin the target satellite set, and i (=1, 2, . . . , N) indicates the ithGPS satellite among the GPS satellites included in the target satelliteset. ymi is the pseudo-range between the ith GPS satellite and theportable telephone 1. ypi is the distance (approximate distance) betweenthe position (Xi, Yi, Zi) of the ith GPS satellite and the presentposition (x, y, z) of the portable telephone 1 obtained by positioningcalculations, and is given by the following equation (3).

yp _(i)=√{square root over ((X ₁ −x)²+(Y _(i) −y)²+(Z _(i) −z)²)}{squareroot over ((X ₁ −x)²+(Y _(i) −y)²+(Z _(i) −z)²)}{square root over ((X ₁−x)²+(Y _(i) −y)²+(Z _(i) −z)²)}  (3)

Specifically, the a priori residual (APR) is given as the sum of thesquare of the difference between the pseudo-range ym and the approximatedistance yp of each GPS satellite of the target satellite set.

In the equation (1), f2 is an evaluation function with respect to theposition dilution of precision (PDOP) of the target satellite set. FIG.3 shows an example of the evaluation function f2. FIG. 3 shows a graphin which the horizontal axis indicates the PDOP value and the verticalaxis indicates the evaluation function f2. The positioning accuracygenerally increases as the PDOP value decreases. Therefore, the largerthe PDOP value, the smaller the evaluation function f2 is.

In the equation (1), f3 is an evaluation function with respect to thenumber of GPS satellites (number of satellites) included in the targetsatellite set. FIG. 4 shows an example of the evaluation function f3.FIG. 4 shows a graph in which the horizontal axis indicates the numberof satellites and the vertical axis indicates the evaluation functionf3. The positioning accuracy generally increases as the number ofsatellites increases. Therefore, the larger the number of satellites,the larger the evaluation function f3 is.

In the equation (1), k1 to k3 are coefficients (evaluation coefficients)for weighting the evaluation functions f1 to f3, respectively.Specifically, the evaluation coefficient k1 is a weighting coefficientfor the evaluation function f1, the evaluation coefficient k2 is aweighting coefficient for the evaluation function f2, and the evaluationcoefficient k3 is a weighting coefficient for the evaluation functionf3. The evaluation coefficients k1 to k3 are determined corresponding tothe average a priori residual (APR) (APR average value). The APR averagevalue is the average value of the APR values of the generated satellitesets.

FIG. 5 shows an example of the evaluation coefficient k1. FIG. 5 shows agraph in which the horizontal axis indicates the APR average value andthe vertical axis indicates the evaluation coefficient k1. As shown inFIG. 5, the larger the APR average value, the smaller the evaluationcoefficient k1 is.

FIG. 6 shows an example of the evaluation coefficient k2. FIG. 6 shows agraph in which the horizontal axis indicates the APR average value andthe vertical axis indicates the evaluation coefficient k2. As shown inFIG. 6, the larger the APR average value, the smaller the evaluationcoefficient k2 is.

FIG. 7 shows an example of the evaluation coefficient k3. FIG. 7 shows agraph in which the horizontal axis indicates the APR average value andthe vertical axis indicates the evaluation coefficient k3. As shown inFIG. 7, the larger the APR average value, the smaller the evaluationcoefficient k3.

FIGS. 8A and 8B show examples of experimental results indicating therelationship between the APR value and a positioning error. FIG. 8Ashows experimental results in a multipath environment, and FIG. 8B showsexperimental results in an open-sky environment. FIGS. 8A and 8B showpositioning results at the same time in the respective receptionenvironments provided that the present position of the portabletelephone 1 is known.

As shown in FIG. 8A, seven GPS satellites (#1 to #7) are acquired in themultipath environment. FIG. 8A shows the APR values and the horizontalerrors of seven satellite sets made up of six or more GPS satellites,and the APR average value and the average horizontal error of all thesatellite sets. The term “horizontal error” refers to the horizontaldifference between the known position of the portable telephone 1 andthe present position calculated based on the GPS satellites of thetarget satellite set.

As shown in FIG. 8B, eight GPS satellites (#1, #2, #4, #6, and #8 to#11) are acquired in the open-sky environment. FIG. 8B shows the APRvalues and the horizontal errors of twenty satellite sets made up of sixor more GPS satellites, and the APR average value and the averagehorizontal error of all the satellite sets.

When comparing the reception environments shown in FIGS. 8A and 8B, theAPR value and the horizontal error are generally larger in the multipathenvironment as compared with the open-sky environment. Specifically, thelarger the APR value, the larger the horizontal error (i.e., the lowerthe positioning accuracy) is. Therefore, it is desirable that thesatellite set with a small APR value have a high evaluation point E sothat the present position candidate corresponding to the satellite setwith a small APR value is preferentially selected. Accordingly, theevaluation function f1 is set to increase as the APR value decreases, asshown in FIG. 2.

When comparing the reception environments shown in FIGS. 8A and 8B, theAPR value of each satellite is generally large in the multipathenvironment and is small in the open-sky environment. However, this doesnot necessarily apply to the individual satellite sets. Specifically,the APR value may be small even in the multipath environment, and may belarge even in the open-sky environment. In FIGS. 8A and 8B, the thirdsatellite set (#1, #2, #3, #5, #6, and #7) in the multipath environmenthas a small APR value, and the second satellite set (#1, #2, #4, #6, #8,#9, #10, and #11) in the open-sky environment has a large APR value, forexample. However, the reception environment can be almost reliablydetermined based on the APR average value. Specifically, the receptionenvironment is likely to be the multipath environment when the APRaverage value is large, and is likely to be the open-sky environmentwhen the APR average value is small.

As described above, a position is likely to be located using a GPSsatellite signal with poor accuracy in the multipath environment, andthe positioning accuracy is likely to be poor even if the APR value issmall. Accordingly, the coefficient k1 for weighting the evaluationfunction f1 is set to decrease as the APR average value increases, asshown in FIG. 5, so that the evaluation function f1 with respect to theAPR value is weighted to a small extent in the multipath environment.

The positioning accuracy generally increases as the number of satellitesincreases. However, a GPS satellite affected by a multipath is likely tobe included in the satellite set with a larger number of satellites inthe multipath environment so that the positioning accuracy may be poor.Accordingly, the coefficient k3 for weighting the evaluation function f3is set to decrease as the APR average value increases, as shown in FIG.7, so that the evaluation function 13 with respect to the number ofsatellites is weighted to a small extent in the multipath environment.

The positioning accuracy generally increases as the PDOP valuedecreases. The PDOP value generally decreases as the number ofsatellites increases. However, a position is likely to be located usinga GPS satellite signal with poor accuracy in the multipath environment,and the positioning accuracy is likely to be poor even if the PDOP valueis small since the number of satellites is large. Accordingly, thecoefficient k2 for weighting the evaluation function f2 is set todecrease as the APR average value increases, as shown in FIG. 6, so thatthe evaluation function 12 with respect to the PDOP value is weighted toa small extent in the multipath environment.

Again referring to FIG. 1, the ROM 32 stores a system program whichcauses the CPU 31 to control each section of the baseband processcircuit section 30 and the RF receiver circuit section 21, and a programand data necessary for the CPU 31 to implement various processesincluding the baseband process. FIG. 9 is a view showing theconfiguration of the ROM 32. As shown in FIG. 9, the ROM 32 stores abaseband process program 321, evaluation function equation data 322, andevaluation coefficient calculation equation data 323. The evaluationfunction equation data 322 is data which defines the evaluationfunctions f1 to f3. For example, the function equations of the graphsshown in FIGS. 2 to 4 are stored as the evaluation function equationdata 322. The evaluation coefficient calculation equation data 323 isdata which defines the evaluation coefficients k1 to k3. For example,the function equations of the graphs shown in FIGS. 5 to 7 are stored asthe evaluation coefficient calculation equation data 323.

The RAM 33 is used as a work area for the CPU 31, and temporarily storesa program and data read from the ROM 32, results of calculationsperformed by the CPU 31 based on various programs, and the like. FIG. 10shows an example of the configuration of the RAM 33. As shown in FIG.10, the RAM 33 stores satellite position data 331, satellite set data332, and evaluation point calculation data 333.

FIG. 11 is a view showing an example of the data configuration of thesatellite position data 331. As shown in FIG. 11, a position 331 bcalculated based on the GPS satellite signal is stored as the satelliteposition data 331 corresponding to each GPS satellite 331 a acquired.

The satellite set data 332 is data relating to the satellite setgenerated based on the acquired GPS satellite signals. FIG. 12 shows anexample of the data configuration of the satellite set data 332. Asshown in FIG. 12, a GPS satellite 332 b included in the satellite set, anumber of satellites 332 c, a present position candidate 332 d, an APRvalue 332 e, a PDOP value 332 f, and an evaluation point 332 g arestored as the satellite set data 332 corresponding to each satellite set332 a generated.

The evaluation point calculation data 333 is data used to calculate theevaluation point E of each satellite set. FIG. 13 is a view showing anexample of the data configuration of the evaluation point calculationdata 333. As shown in FIG. 13, an APR average value 333 a and evaluationcoefficients 333 b to 333 d (k1 to k3) are stored as the evaluationpoint calculation data 333.

The host CPU 40 controls each section of the portable telephone 1 basedon various programs such as a system program stored in the ROM 43.Specifically, the host CPU 40 mainly implements a telephone callfunction, and performs a process for implementing various functionsincluding a navigation function such as causing the display section 42to display a navigation screen in which the present position of theportable telephone 1 input from the baseband process circuit section 30is plotted on a map.

The operation section 41 is an input device including an operation key,a button switch, and the like. The operation section 41 outputs anoperation signal corresponding to the operation of the user to the hostCPU 40. Various instructions such as a positioning start/finishinstruction are input by operating the operation section 41. The displaysection 42 is a display device such as a liquid crystal display (LCD).The display section 42 displays a display screen (e.g., navigationscreen and time information) based on a display signal input from thehost CPU 40.

The ROM 43 stores a system program which causes the host CPU 40 tocontrol the portable telephone 1, a program and data necessary forimplementing a navigation function, and the like. The RAM 44 is used asa work area for the host CPU 40. The RAM 44 temporarily stores a programand data read from the ROM 43, data input from the operation section 41,results of calculations performed by the host CPU 40 based on variousprograms, and the like.

The portable telephone antenna 50 is an antenna which transmits andreceives a portable telephone radio signal between the portabletelephone 1 and a radio base station installed by a communicationservice provider of the portable telephone 1. The portable telephonewireless communication circuit section 60 is a portable telephonecommunication circuit section which includes an RF conversion circuit, abaseband process circuit, and the like, and transmits and receives aradio signal under control of the host CPU 40.

Process Flow

FIG. 14 is a flowchart illustrative of the flow of the baseband processexecuted by the CPU 31. The baseband process is implemented by causingthe CPU 31 to execute the baseband process program 321. A digital IFsignal obtained by down-converting an RF signal received by the GPSantenna 10 into an IF signal by the RF receiver circuit section 21 isinput to the baseband process circuit section 30 at any time before thebaseband process.

As shown in FIG. 14, the CPU 31 calculates satellite information(including the position) relating to each GPS satellite based on theacquired GPS satellite signal (step A1). The CPU 31 selects satellitesets made up of four or more GPS satellites based on the acquiredsatellite signals (step A3), and performs a loop A process on eachselected satellite set. In the loop A, the CPU 31 calculates the presentposition candidate of the portable telephone 1 by performing positioningcalculations using a least-square method or the like based on theposition of each GPS satellite of the target satellite set (step A5).The CPU 31 calculates the number of GPS satellites (number ofsatellites) included in the target satellite set (step A7). The CPU 31calculates the APR value of the target satellite set based on thecalculated present position candidate (step A9), and calculates the PDOPvalue of the target satellite set (step A11). The loop A is thusperformed.

When the CPU 31 has performed the loop A process on all satellite sets,the CPU 31 calculates the APR average value of the satellite sets (stepA13). The CPU 31 calculates the evaluation coefficients k1 to k3 basedon the calculated APR average value (step A15). The CPU 31 then performsa loop B process on each satellite set generated. In the loop B, the CPU31 calculates the evaluation point E of the target satellite set.Specifically, the CPU 31 calculates the evaluation functions f1 to f3based on the APR value, the PDOP value, and the number of satellites ofthe target satellite set, and calculates the evaluation point E based onthe calculated evaluation functions f1 to f3 and the evaluationcoefficients k1 to k3 according to the equation (1) (step A17). The loopB is thus performed.

When the CPU 31 has performed the loop B process on all satellite sets,the CPU 31 selects the satellite set with the highest evaluation point Efrom the satellite sets, and determines the present position candidatecorresponding to the selected satellite set to be the present locatedposition (step A19). The CPU 31 then determines whether or not to finishpositioning. When the CPU 31 has determined to continue positioning(step A21: NO), the CPU 31 returns to the step A1 and performs the nextpositioning. When the CPU 31 has determined to finish positioning (stepA21: YES), the CPU 31 finishes the baseband process.

Modification

Embodiments to which the invention may be applied are not limited to theabove-described embodiments. Various modifications and variations may bemade without departing from the spirit and scope of the invention.

(A) Evaluation Functions f1 to f3

In the above embodiments, the evaluation coefficients k1 to k3 forweighting the evaluation functions f1 to f3 are changed corresponding tothe APR average value. Note that a plurality of functions may be definedfor each of the evaluation functions f1 to f3, and the function appliedmay be changed corresponding to the APR average value.

For example, two functions fa and fb associated with the APR averagevalue are defined for each of the evaluation functions f1 to f3, asshown in FIGS. 15A to 15C. FIG. 15A shows evaluation functions f1 a andf1 b with respect to the APR value, FIG. 15B shows evaluation functionsf2 a and f2 b with respect to the PDOP value, and FIG. 15C showsevaluation functions f3 a and f3 b with respect to the number ofsatellites. For example, the functions f1 a, f2 a, and f3 a arerespectively used as the evaluation functions f1, f2, and f3 when theAPR average value is less than a given threshold value, and thefunctions f1 b, f2 b, and f3 b are respectively used as the evaluationfunctions f1, f2, and f3 when the APR average value is equal to orlarger than a given threshold value.

(B) Evaluation Point Calculation Equation

A plurality of calculation equations may be defined as the evaluationpoint calculation equation, and the calculation equation applied may bechanged corresponding to the ARP average value.

(C) Evaluation Function f

In the above embodiments, the evaluation functions f1 to f3 with respectto the APR value, the PDOP value, and the number of satellites are usedfor the evaluation point calculation equation. Note that one or two ofthe evaluation functions f1 to f3 may be used, or an evaluation functionwith respect to another evaluation target (e.g., position sigma orsignal strength) may also be used.

(D) Host CPU

Some or all of the processes performed by the CPU 31 of the basebandprocess circuit section 30 may be performed by the host CPU 40 by meansof software.

(E) Positioning Device

The above embodiments have been described taking an example of aportable telephone which is an electronic instrument including apositioning device. Note that the invention may also be applied to otherelectronic instruments such as a portable navigation system, a carnavigation system, a personal digital assistant (PDA), and a wristwatch.

(F) Satellite Positioning System

The above embodiments have been described taking an example utilizingthe GPS. Note that the invention may also be applied to other satellitepositioning systems such as the global navigation satellite system(GLONASS).

(G) Storage Medium

A configuration may be employed in which the baseband process program321 is recorded on a storage medium such as a CD-ROM and installed in anelectronic instrument such as a portable telephone.

Although only some embodiments of the invention have been described indetail above, those skilled in the art would readily appreciate thatmany modifications are possible in the embodiments without materiallydeparting from the novel teachings and advantages of the invention.Accordingly, such modifications are intended to be included within thescope of the invention.

1. (canceled)
 2. A positioning method comprising: generating a pluralityof satellite sets, each of the plurality of satellite sets being acombination of positioning satellites used for a present positioningprocess; computing a candidate position with respect to each of theplurality of satellite sets; obtaining an A Priori Residual (APR) withrespect to each of the plurality of satellite sets based on thecandidate position and locations of the positioning satellites;obtaining an averaged APR by averaging the APR thus obtained; changing aweighting of an evaluation function based on the averaged APR;calculating an evaluation point of the candidate position by calculatinga scoring equation to which the weighting of the evaluation function isapplied; and determining a present position based on the evaluationpoint.
 3. The positioning method according to claim 2, wherein theweighting is changed so that the weighting is lower as the averaged APRrises.
 4. The positioning method according to claim 2, wherein theevaluation function is selected from a plurality of evaluationfunctions, and the plurality of evaluation functions corresponding to arange of averaged APRs.
 5. A positioning method comprising: generating aplurality of satellite sets, each of the plurality of satellite setsbeing a combination of positioning satellites used for a presentpositioning process; computing a candidate position with respect to eachof the plurality of satellite sets; obtaining an A Priori Residual (APR)with respect to each of the plurality of satellite sets based on thecandidate position and locations of the positioning satellites;obtaining an averaged APR by averaging the APR thus obtained; modifyinga scoring equation based on the averaged APR; calculating an evaluationpoint of the candidate position by calculating the scoring equation; anddetermining a present position based on the evaluation point.
 6. Thepositioning method according to claim 5, wherein the scoring equation isselected from a plurality of scoring equations, and the plurality ofscoring equations corresponding to a range of averaged APRs.